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Published Topics

Parameters

cell_size (double, default: 0.5)

Grid cell size (meters).

full_clouds (bool, default: false)

Normally, height map only publishes one obstacle or clear point for each cell, significantly reducing output bandwidth while providing the information needed for most 2D navigation. When true, publish all obstacle and clear points.

grid_dimensions (int, default: 320)

Number of grid cells in both the X and Y dimensions.

height_threshold (double, default: 0.25)

Minimum height difference that counts as an obstacle (meters).

Examples

This launch file runs the height map nodelet in the same process with the Velodyne device driver and a velodyne_pointcloud nodelet which publishes the points transformed into the "/odom" frame. This approach minimizes data copying.